CN110293551A

CN110293551A - Visual sensor installation site determines method, apparatus and electronic equipment

Info

Publication number: CN110293551A
Application number: CN201810236153.4A
Authority: CN
Inventors: 梁彬欣
Original assignee: Beijing Orion Star Technology Co Ltd
Current assignee: Beijing Orion Star Technology Co Ltd
Priority date: 2018-03-21
Filing date: 2018-03-21
Publication date: 2019-10-01
Anticipated expiration: 2038-03-21
Also published as: CN110293551B

Abstract

The present invention proposes that a kind of visual sensor installation site determines method, apparatus and electronic equipment, wherein method includes: that control mechanical arm is moved according to preset path；It obtains mechanical arm and moves front and back, the visual sensor acquired image of each installation site to be determined according to preset path；Wherein, the type of visual sensor includes at least one of mechanical arm tail end visual sensor and mechanical arm application environment visual sensor；Obtain the motion profile of imaging features point in each visual sensor acquired image；According to the motion profile of imaging features point in each visual sensor acquired image, the corresponding installation site of each visual sensor is determined.As a result, according to the motion profile of imaging features point and manipulator motion path, realizes and visual sensor and mechanical arm are distinguished and bound, so as to quickly determine the installation site of visual sensor in mechanical arm system, accuracy is improved, and does not depend on hardware system, transportable property is high.

Description

Visual sensor installation site determines method, apparatus and electronic equipment

Technical field

The present invention relates to field of artificial intelligence more particularly to a kind of visual sensor installation site to determine method, dress It sets and electronic equipment.

Background technique

Mechanical arm system generally includes mechanical arm, visual sensor and main control computer.When there is multiple machinery in system It when arm and visual sensor, needs to match mechanical arm and visual sensor, that is to say, that need mechanical arm and vision Sensor is bound, with the installation site of each visual sensor of determination.

A kind of mode used in the related technology, be carried out by the Unique Device identification code of visual sensor it is matched, But due to the visual sensor that the visual sensor of initial batch production is low side, the title of the visual sensor of same model It is the same.These visual sensors simultaneously have the difference on EIC equipment identification code.Therefore, the vision of initial batch production is passed For sensor, it can not be matched by equipment mark code.

Secondly, the EIC equipment identification code of the visual sensor of different model may use different coding modes, encoding In the case that mode is different, the mode accordingly read can also be had differences.Therefore, it in mechanical arm system, is calculated by master control The EIC equipment identification code of the visual sensor of different model is read on machine, efficiency is lower, and there are many reading manners for needs, cause Read higher cost.

The another way used in the related technology is by the universal serial bus (Universal on main control computer Serial Bus, abbreviation USB) interface matches visual sensor, will do it when starting every time due to main control computer from Inspection, and the power-up sequence of the USB interface on mainboard be it is random, which interface is first powered and is difficult to distinguish, when mechanical arm exists When position migrates on mechanical arm system, the USB of the mechanical arm needs to reconnect, reading position of the main control computer to USB Setting can also change, so as to cause the matching inaccuracy to visual sensor.

In short, it is corresponding mechanical to solve visual sensor accurate match without ready-made, easy-to-use effective means in the related technology The problem of arm, once mechanical arm and visual sensor matching error, in the image according to the visual sensor acquisition matched Can inevitably malfunction, influence the normal operation of mechanical arm system during corresponding mechanical arm controlled.

Summary of the invention

The present invention is directed to solve at least some of the technical problems in related technologies.

For this purpose, the first purpose of this invention is to propose that a kind of visual sensor installation site determines method, to realize Visual sensor and mechanical arm are distinguished and bound, so as to quickly determine the peace of visual sensor in mechanical arm system Holding position improves accuracy, and does not depend on hardware system, and transportable property is high.

Second object of the present invention is to propose a kind of visual sensor installation site determining device.

Third object of the present invention is to propose a kind of electronic equipment.

Fourth object of the present invention is to propose a kind of computer program product.

5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.

In order to achieve the above object, first aspect present invention embodiment proposes a kind of visual sensor installation site determination side Method, comprising:

Control mechanical arm is moved according to preset path；

It obtains the mechanical arm and moves front and back according to preset path, the visual sensor of each installation site to be determined collects Image；Wherein, the type of the visual sensor includes mechanical arm tail end visual sensor and mechanical arm application environment vision At least one of sensor；

Obtain the motion profile of imaging features point in each visual sensor acquired image；

According to the motion profile of imaging features point in each visual sensor acquired image, each visual sensor pair is determined The installation site answered.

The visual sensor installation site of the embodiment of the present invention determines method, is transported by control mechanical arm according to preset path It is dynamic, and then obtain mechanical arm and move front and back, the collected figure of visual sensor of each installation site to be determined according to preset path Picture further obtains the motion profile of imaging features point in each visual sensor acquired image, further according to each vision The motion profile of imaging features point in sensor acquired image, determines the corresponding installation site of each visual sensor.As a result, By obtaining the motion profile of the imaging features point in former and later two images of manipulator motion, then by the movement of imaging features point Track is matched with the motion path of mechanical arm, can realize the area to visual sensor and mechanical arm by matching result Divide and bind, so as to quickly determine the installation site of visual sensor in mechanical arm system, improves accuracy, and not Hardware system is relied on, transportable property is high.

In addition, to determine that method can also have following attached for visual sensor installation site according to the above embodiment of the present invention Add technical characteristic:

Optionally, the control mechanical arm is moved according to preset path, comprising: one mechanical arm of every secondary control is according to default Path movement；It is described to obtain the mechanical arm according to preset path movement front and back, the visual sensor of each installation site to be determined Acquired image, comprising: obtain one mechanical arm according to preset path and move front and back, the view of each installation site to be determined Feel sensor acquired image.

Optionally, when the visual sensor of the installation site to be determined includes multiple end visual sensors, then institute The motion profile according to imaging features point in each visual sensor acquired image is stated, determines the corresponding peace of each visual sensor Holding position, comprising: by the motion profile of imaging features point in each end visual sensor acquired image, with the default road Diameter is matched；End corresponding with the matched motion profile of preset path visual sensor is determined, for positioned at the machine The end visual sensor of tool arm end.

Optionally, when the visual sensor of the installation site to be determined includes multiple application environment visual sensors, The then motion profile according to imaging features point in each visual sensor acquired image determines that each visual sensor is corresponding Installation site, comprising: by the motion profile of imaging features point in each application environment visual sensor acquired image, with institute Preset path is stated to be matched；For with the matched application environment visual sensor of the preset path, obtain imaging spy Sign point is after the mechanical arm is moved according to preset path in the matched application environment visual sensor acquired image Regional location；According to the installation site of the regional location and the mechanical arm, the matched application environment vision is determined The installation site of sensor.

Optionally, before one mechanical arm of every secondary control is moved according to preset path, further includes: control is one Mechanical arm is rotated according to set angle.

Optionally, when the visual sensor of the installation site to be determined includes an application environment visual sensor and one When a end visual sensor, then the motion profile according to imaging features point in each visual sensor acquired image, Determine the corresponding installation site of each visual sensor, comprising: imaging features in two visual sensor acquired images of identification The direction of motion of point determines the type of two visual sensors according to the direction of motion；According to described two visual sensors Type, determine the corresponding installation site of described two visual sensors.

Optionally, the visual sensor of the installation site to be determined includes N number of application environment visual sensor and M end Hold visual sensor, wherein N and M is positive integer, and at least one in N and M is greater than 1, then described according to each visual sensor The motion profile of imaging features point in acquired image, determines the corresponding installation site of each visual sensor, comprising: by each view The motion profile for feeling imaging features point in sensor acquired image, is matched with the preset path；For with it is described The matched visual sensor of preset path identifies the fortune of imaging features point in the matched visual sensor acquired image Dynamic direction determines the type of each matched visual sensor according to the direction of motion；When in the matched visual sensor There are the matched end visual sensor when visual sensor of end, is determined, to be regarded positioned at the end of the mechanical arm tail end Feel sensor；When there are when application environment visual sensor, obtain the imaging features point in institute in matched visual sensor State the regional location after mechanical arm is moved according to preset path in the matched application environment visual sensor acquired image； According to the installation site of the regional location and the mechanical arm, the installation position of the matched application environment visual sensor is determined It sets.

Optionally, the type of visual sensor is specifically determined according to the direction of motion in the following way: for each The visual sensor of type to be determined compares the direction of motion and the direction initialization；According to the direction of motion and institute State whether direction initialization is consistent, determines the type of the sensor.

Optionally, the motion profile of imaging features point in each visual sensor acquired image is obtained, comprising: for every A visual sensor extracts visual sensor acquisition before the mechanical arm is moved according to preset path by optical flow method respectively To the first image and the mechanical arm moved according to preset path after in collected second image of the visual sensor it is each The characteristics of image of pixel；It determines the consistent pixel of characteristics of image in the first image and second image, obtains institute State location information of the consistent pixel of characteristics of image in the first image and second image；Compare described image spy Location information of the consistent pixel in the first image and second image is levied, by the inconsistent pixel of location information Point, as an imaging features point；According to location information of the imaging features point in the first image, and described Location information in two images forms the motion profile of imaging features point in the visual sensor acquired image.

In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of determining dress of visual sensor installation site It sets, comprising:

Control module is moved for controlling mechanical arm according to preset path；

First obtains module, moves front and back, each installation site to be determined according to preset path for obtaining the mechanical arm Visual sensor acquired image；Wherein, the type of the visual sensor include mechanical arm tail end visual sensor and At least one of mechanical arm application environment visual sensor；

Second obtains module, for obtaining the motion profile of imaging features point in each visual sensor acquired image；

Determining module determines each view according to the motion profile of imaging features point in each visual sensor acquired image Feel the corresponding installation site of sensor.

In addition, visual sensor installation site determining device according to the above embodiment of the present invention can also have it is following attached Add technical characteristic:

Optionally, the control module, is specifically used for: one mechanical arm of every secondary control is moved according to preset path；It is described First obtains module, is specifically used for: obtaining one mechanical arm according to preset path and moves front and back, each installation site to be determined Visual sensor acquired image.

Optionally, when the visual sensor of the installation site to be determined includes multiple end visual sensors, then institute Determining module is stated, is specifically used for: by the motion profile of imaging features point in each end visual sensor acquired image, with institute Preset path is stated to be matched；It determines end corresponding with the matched motion profile of preset path visual sensor, is position In the end visual sensor of the mechanical arm tail end.

Optionally, when the visual sensor of the installation site to be determined includes multiple application environment visual sensors, The then determining module, is specifically used for: by the movement of imaging features point in each application environment visual sensor acquired image Track is matched with the preset path；For with the matched application environment visual sensor of the preset path, obtain institute Imaging features point matched application environment visual sensor after the mechanical arm is moved according to preset path is stated to collect Image in regional location；According to the installation site of the regional location and the mechanical arm, the matched application is determined The installation site of environmental visual sensor.

Optionally, the control module, is also used to: before one mechanical arm of every secondary control is moved according to preset path, One mechanical arm is controlled to be rotated according to set angle.

Optionally, when the visual sensor of the installation site to be determined includes an application environment visual sensor and one When a end visual sensor, then the true module, is specifically used for: being imaged in two visual sensor acquired images of identification The direction of motion of characteristic point determines the type of two visual sensors according to the direction of motion；It is passed according to described two visions The type of sensor determines the corresponding installation site of described two visual sensors.

Optionally, which is characterized in that the visual sensor of the installation site to be determined includes that N number of application environment vision passes Sensor and M end visual sensor, wherein N and M is positive integer, and at least one in N and M is greater than 1, then the determination Module is specifically used for: by the motion profile of imaging features point in each visual sensor acquired image, with the preset path It is matched；For with the matched visual sensor of the preset path, identify that the matched visual sensor is collected The direction of motion of imaging features point in image determines the type of each matched visual sensor according to the direction of motion；Work as institute It states there are the matched end visual sensor when visual sensor of end, is determined in matched visual sensor, for positioned at institute State the end visual sensor of mechanical arm tail end；When, there are when application environment visual sensor, being obtained in matched visual sensor Take the imaging features point matched application environment visual sensor acquisition after the mechanical arm is moved according to preset path To image in regional location；According to the installation site of the regional location and the mechanical arm, the matched application is determined The installation site of environmental visual sensor.

Optionally, the determining module, is also used to: for the visual sensor of each type to be determined, by the movement Direction is compared with the direction initialization；It is whether consistent with the direction initialization according to the direction of motion, determine the sensor Type.

Optionally, described second module is obtained, be specifically used for: mentioned respectively for each visual sensor by optical flow method Collected first image of the visual sensor and the mechanical arm are according to pre- before taking the mechanical arm to move according to preset path If after the movement of path in collected second image of the visual sensor each pixel characteristics of image；Determine first figure The consistent pixel of characteristics of image in picture and second image obtains the consistent pixel of described image feature described first Location information in image and second image；Compare the consistent pixel of described image feature in the first image and institute The location information in the second image is stated, by the inconsistent pixel of location information, as an imaging features point；According to it is described at As location information of the characteristic point in the first image, and the location information in second image, form vision biography The motion profile of imaging features point in sensor acquired image.

The visual sensor installation site determining device of the embodiment of the present invention is transported by control mechanical arm according to preset path It is dynamic, and then obtain mechanical arm and move front and back, the collected figure of visual sensor of each installation site to be determined according to preset path Picture further obtains the motion profile of imaging features point in each visual sensor acquired image, further according to each vision The motion profile of imaging features point in sensor acquired image, determines the corresponding installation site of each visual sensor.As a result, By obtaining imaging features point, and the motion profile of imaging features point is matched with manipulator motion path, is realized pair Visual sensor and mechanical arm are distinguished and are bound, so as to quickly determine the installation of visual sensor in mechanical arm system Position improves accuracy, and does not depend on hardware system, and transportable property is high.

In order to achieve the above object, third aspect present invention embodiment proposes a kind of electronic equipment, comprising: shell, processor, Memory, circuit board and power circuit；

Wherein, the circuit board is placed in the space interior that the shell surrounds, and the processor and the memory are set It sets on the circuit board；The power circuit, for each circuit or the device power supply for above-mentioned electronic equipment；The storage Device is for storing executable program code；Wherein, the processor is by reading the executable program stored in the memory Code runs program corresponding with the executable program code, for realizing the vision as described in first aspect embodiment Sensor mounting location determines method.

In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of computer program product, which is characterized in that The visual sensor as described in first aspect embodiment is realized when the instruction processing unit in the computer program product executes Installation site determines method.

In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium Matter is stored thereon with computer program, which is characterized in that realizes when the program is executed by processor such as first aspect embodiment institute The visual sensor installation site stated determines method.

The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments Obviously and it is readily appreciated that, in which:

Fig. 1 determines the flow diagram of method for a kind of visual sensor installation site provided by the embodiment of the present invention；

Fig. 2 is the process signal that another kind visual sensor installation site provided by the embodiment of the present invention determines method Figure；

Fig. 3 is a kind of movement locus schematic diagram of imaging features point provided by the embodiment of the present invention；

Fig. 4 is the process signal that another kind visual sensor installation site provided by the embodiment of the present invention determines method Figure；

Fig. 5 is a kind of image schematic diagram of application environment visual sensor acquisition provided by the embodiment of the present invention；

Fig. 6 is the image schematic diagram of the acquisition of another kind application environment visual sensor provided by the embodiment of the present invention；

Fig. 7 is the process signal that another kind visual sensor installation site provided by the embodiment of the present invention determines method Figure；

Fig. 8 a- Fig. 8 b is the movement locus schematic diagram of another kind imaging features point provided by the embodiment of the present invention；

Fig. 9 is the process signal that another kind visual sensor installation site provided by the embodiment of the present invention determines method Figure；

Figure 10 is the flow diagram for extracting imaging characteristic point provided by the embodiment of the present invention by streamer method；

Figure 11 is a kind of structural schematic diagram of visual sensor installation site determining device provided by the embodiment of the present invention；

Figure 12 shows the block diagram for being suitable for the example electronic device for being used to realize the application embodiment.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.

Below with reference to the accompanying drawings the visual sensor installation site for describing the embodiment of the present invention determines that method, apparatus and electronics are set Standby, storage medium.

Fig. 1 determines the flow diagram of method for a kind of visual sensor installation site provided by the embodiment of the present invention, As shown in Figure 1, the visual sensor installation site determines that method includes:

Step 101, control mechanical arm is moved according to preset path.

In one embodiment of the invention, it can be preset on the display interface of mechanical arm system by user's manual setting Path.Wherein, the means of user setting preset path include but is not limited to set by remote controler setting, by application program of mobile phone Set, be arranged by phonetic order etc..

As an example, it can be moved with one mechanical arm of every secondary control according to preset path.

As another example, when mechanical arm quantity is more, multiple mechanical arms can also be controlled simultaneously according to different Preset path movement.

Wherein, preset path can be configured according to concrete application scene, for example, to left, to right translation etc., this Place is with no restrictions.

Step 102, it obtains mechanical arm and moves front and back according to preset path, the visual sensor of each installation site to be determined is adopted The image collected；Wherein, the type of visual sensor includes mechanical arm tail end visual sensor and mechanical arm application environment vision At least one of sensor.

In the present embodiment, before control mechanical arm is moved according to preset path, from the vision of each installation site to be determined An image is acquired in sensor, in turn, after control mechanical arm is moved according to preset path, from each installation site to be determined Visual sensor in acquire an image again.

In one embodiment of the invention, the setting of mechanical arm tail end visual sensor on the robotic arm, can be set Mechanical arm tail end the positions such as can be set on the inside of mechanical arm, also to carry out Image Acquisition to environment in monitoring visual field.For example, In the mechanical arm system of coffee machine, the image that mechanical arm tail end visual sensor can acquire is coffee machine.

In one embodiment of the invention, mechanical arm application environment visual sensor can be set on mechanical arm system top Portion, with the image of acquisition applications environment.For example, mechanical arm application environment visual sensor can be set on the ceiling, to adopt Collect entire or certain applications environment the image including mechanical arm.

Step 103, the motion profile of imaging features point in each visual sensor acquired image is obtained.

In one embodiment of the invention, in order to determine the installation site of visual sensor, after step 102, also The characteristics of image of each pixel in image can be extracted, and then according to pixel respectively from the acquired image of movement front and back The characteristics of image and location information of point choose imaging characteristic point, are further formed in each visual sensor acquired image and are imaged The motion profile of characteristic point.

Wherein, characteristics of image includes but is not limited to color characteristic, textural characteristics, shape feature, spatial relation characteristics etc..

It is appreciated that the variation for the image that visual sensor can be brought to acquire due to the movement of mechanical arm, and imaging features The motion profile of point can reflect out the variation of target in image, therefore, by obtaining each visual sensor acquired image The motion profile of middle imaging features point, and the preset path of manipulator motion is combined to be analyzed, it can determine visual sensor With the corresponding relationship of mechanical arm.

It should be noted that, although the target (such as coffee machine) that the corresponding visual sensor of mechanical arm is monitored is not practical It is upper to move, it due to the visual sensor bound on mechanical arm, is moved under the drive of mechanical arm, although institute The target of monitoring does not change, but in the case where visual sensor changes, due to the principle of relative motion, is supervised Also changed for the target relative visual sensor of control, this variation can be embodied in movement front and back acquired image In, i.e., it is embodied by the motion profile of imaging features point.

Step 104, according to the motion profile of imaging features point in each visual sensor acquired image, each vision is determined The corresponding installation site of sensor.

Specifically, the motion profile of imaging features point in each visual sensor acquired image and preset path are carried out Matching, so that it is determined that the corresponding installation site of each visual sensor.

For including being mounted on the end visual sensor of mechanical arm tail end in visual sensor, at every secondary control one The case where manipulator motion, just can be in the band of mechanical arm due to the visual sensor only with the binding of the mechanical arm of current kinetic It is moved under dynamic, that is to say, that only from the image of visual sensor movement front and back, extract the fortune of imaging features point Dynamic rail mark.And the visual sensor bound on other mechanical arm, since the fortune for the imaging features point that movement is then mentioned not occurring Dynamic rail mark is to maintain not move on original position.By the visual sensor of each of extraction installation site to be determined The motion profile of imaging features point can be identified and be tied up with the mechanical arm compared with the preset path of the mechanical arm of current kinetic Fixed visual sensor.

For example, control mechanical arm A moves downward 3cm, the movement of imaging features point in visual sensor a acquired image Track, which indicates, moves right about 3cm, it is determined that visual sensor a is mounted on mechanical arm A.

As an example, when only including two end visual sensors, but a visual sensing is identified After the installation site of device, the installation site of another visual sensor also determines that out.E.g., including end vision passes Sensor a and b correspondingly also determine that out b on mechanical arm B when determining that a is on mechanical arm A.

For including end visual sensor in visual sensor, different mechanical arms are being controlled according to different default roads The case where diameter moves, since the motion path of each mechanical arm is different, before collecting movement in bound visual sensor In image afterwards, the motion profile of the imaging features point extracted also can be different.For the visual sensing of installation site to be determined The motion profile of the imaging features point of the visual sensor is compared with the preset path of each mechanical arm, then by device respectively The available matched mechanical arm of motion profile with the imaging features point, illustrates that the visual sensor is just bundled in matched machine On tool arm.

For example, control mechanical arm A moves downward 3cm, control mechanical arm B moves right 3cm, controls mechanical arm C along 45 degree 3cm angularly is moved left, the motion profile of imaging features point is about 3cm to the right, vision in visual sensor a acquired image The motion profile of imaging features point is about 3cm to the left, the collected figure of visual sensor c in sensor b acquired image The motion profile of imaging features point is angularly to move right about 3cm along 45 degree as in, determines that visual sensor a is mounted on mechanical arm On A, visual sensor b is mounted on mechanical arm B, and visual sensor c is mounted on mechanical arm C.

It should be noted that there may be more for end visual sensor and application environment visual sensor in mechanical arm system Kind combined situation does not include application environment visual sensing for example, may only include end visual sensor in mechanical arm system Device.For another example, application environment visual sensor may be only included in mechanical arm system, do not include end visual sensor.Compare again Such as, an end visual sensor and an application environment visual sensor may be only included in mechanical arm system.For another example, machine It may include N number of application environment visual sensor and M end visual sensor in tool arm system, wherein N and M is positive whole Number, and at least one in N and M is greater than 1.

For above-mentioned different situation, according to the movement rail of imaging features point in each visual sensor acquired image Mark, determines the specific steps of the corresponding installation site of each visual sensor, will do it detailed description in the following embodiments.

Based on the above embodiment, further, below by taking one mechanical arm of every secondary control is moved according to preset path as an example, The case where only including end visual sensor for mechanical arm system is explained.

Fig. 2 determines method for another kind visual sensor installation site provided by the embodiment of the present invention, as shown in Fig. 2, This method comprises:

Step 201, one mechanical arm of every secondary control is moved according to preset path.

Specifically, can be with the control sequence of pre-configured mechanical arm, and then pass through inquiry control sequence, it controls in sequence Mechanical arm processed is moved according to preset path.

Step 202, it obtains a mechanical arm and moves front and back, the visual sensing of each installation site to be determined according to preset path Device acquired image.

In the present embodiment, one mechanical arm of every secondary control is moved according to preset path, and is determined and be somebody's turn to do in epicycle operation The matched end visual sensor of mechanical arm.In turn, by constantly repeating these steps, so that it may by all mechanical arms and end End visual sensor is matched.

Wherein, before and after obtaining a mechanical arm and being moved according to preset path, it has been determined that cross the end view of installation site Feel that sensor does not need to acquire image again, to reduce unnecessary operand, improves treatment effeciency.

Step 203, the motion profile of imaging features point in each visual sensor acquired image is obtained.

It should be noted that the explanation in previous embodiment for step 103 is equally applicable in this present embodiment Step 203, details are not described herein again.

Step 204, by the motion profile of imaging features point in each end visual sensor acquired image, with default road Diameter is matched.

Step 205, end corresponding with the matched motion profile of preset path visual sensor is determined, for positioned at mechanical arm The end visual sensor of end.

In the present embodiment, since mechanical arm system only includes end visual sensor, pressed in one mechanical arm of every secondary control In the case where according to preset path movement, it is only necessary to which each end visual sensor is acquired to the motion profile of imaging features point in image It is matched with the mechanical arm preset path, the corresponding end visual sensor of the motion profile of successful match is assured that peace Loaded on the mechanical arm tail end.For example, one mechanical arm of control is moved to the left 3cm, then image is acquired in each end visual sensor In the motion profile of middle imaging features point, only one motion profile is the about 3cm that moves right, and characteristic movement trajectories are It does not move, so that it may determine the motion profile and preset path successful match of the about 3cm that moves right.

The present embodiment is explained in order to more clear, is illustrated below:

It as an example, include mechanical arm A, mechanical arm B, end visual sensor a, end vision in mechanical arm system Sensor b needs to match respectively, issues shooting instruction, and control end visual sensor a and b shoots first image respectively, And be stored in the nodal directory of equipment, in turn, control mechanical arm A is moved to the left 3cm, further controls end visual sensor A and b shoots second image again respectively, and then obtains imaging features point in the image that end visual sensor a and b is acquired Motion profile, as shown in figure 3, know in the visual sensor a of end that imaging features point has moved right about 3cm, end vision Imaging features point in sensor b does not move, it is determined that end visual sensor a is to regard positioned at the end of the end mechanical arm A Feel sensor.

Further, since this mechanical arm system only has 2 mechanical arms, it is assured that end visual sensor b For positioned at the end visual sensor of the end mechanical arm B.It certainly, can also if mechanical arm quantity is greater than 2 in mechanical arm system The installation site of each visual sensor is determined with repeating the above steps.

Hereby it is achieved that passing through every secondary control one in the case where mechanical arm system only includes end visual sensor Mechanical arm is moved according to preset path, based on the motion profile of the imaging features point in former and later two images of manipulator motion, so The motion profile of imaging features point is matched with the motion path of mechanical arm afterwards, can be realized by matching result to end The differentiation and binding of visual sensor and mechanical arm are held, with the installation site of each end visual sensor of determination, is improved precisely Property, and hardware system is not depended on, transportable property is high.

Based on the above embodiment, the case where only including application environment visual sensor below for mechanical arm system is solved Release explanation.

Fig. 4 determines method for another kind visual sensor installation site provided by the embodiment of the present invention, as shown in figure 4, In obtaining each visual sensor acquired image after the motion profile of imaging features point, this method comprises:

Step 301, and pre- by the motion profile of imaging features point in each application environment visual sensor acquired image If path is matched.

In the present embodiment, since application environment visual sensor is arranged in system head, it can acquire and exist including mechanical arm Interior entire or certain applications environment image, due to only having mechanical arm moving in application environment, Ke Yicong The pixel on mechanical arm is extracted in image, as imaging features point, and then when mechanical arm is moved according to preset path, phase The imaging features point in application environment visual sensor acquired image answered can also move.

Wherein, the motion profile of imaging features point and the matched process of preset path are similar with previous embodiment, herein not It repeats again.

Step 302, for the matched application environment visual sensor of preset path, obtain imaging features point in mechanical arm Regional location after being moved according to preset path in matched application environment visual sensor acquired image.

In practical applications, there are when multiple application environment visual sensors, due to the difference of setting, may exist and adopt The image of collection has the case where overlapping region.When imaging characteristic point is located in overlapping region, there can be multiple application environment visions The motion profile of imaging features point is matched with preset path in sensor acquired image, therefore, is answered to further discriminate between With the installation site of environmental visual sensor, it is also necessary to obtain the regional location of imaging features point in the picture, such as imaging spy Sign point is to the left in the picture, to the right or positioned at centre etc..

Step 303, according to the installation site of regional location and mechanical arm, matched application environment visual sensor is determined Installation site.

In one embodiment of the invention, when the image of multiple application environment visual sensor acquisitions has overlapping region, According to the installation site of regional location and mechanical arm, the installation site of matched application environment visual sensor is determined.For example, depositing In three application environment visual sensor A, B, C and left side mechanical arm and right side mechanical of to the left, to the right and intermediate setting Arm, wherein intermediate application environment visual sensor is respectively present with the application environment visual sensor of the left and right sides and is overlapped area Domain, as shown in figure 5, control left side mechanical arm is moved to the left 3cm, application environment visual sensor A, B is matched with preset path, At this time in application environment visual sensor A acquired image, imaging features point is moved to image from image right area position Intermediate region position, in application environment visual sensor B acquired image, imaging features point is from image intermediate region position It is moved to image left area position, in conjunction with being left side mechanical arm according to the mobile mechanical arm of preset path, determines application environment Visual sensor A installation site on the left of environment, application environment visual sensor B installation site in the environment between.

In one embodiment of the invention, overlapping region is not present in the image of multiple application environment visual sensor acquisitions When, by matching the movement tendency of imaging features point with preset path, to determine the installation position of application environment visual sensor It sets.For example, there are two application environment visual sensors A, B to the left, to the right and left side mechanical arm and right side mechanical arm, Wherein overlapping region is not present in application environment visual sensor A and B, as shown in fig. 6, control left side mechanical arm is moved to the left 3cm, Know that application environment visual sensor A is matched with preset path, application environment visual sensor B and preset path mismatch, then Determine application environment visual sensor A installation site on the left of environment.

Hereby it is achieved that in the case where mechanical arm system only includes application environment visual sensor, by the way that spy will be imaged The motion profile of sign point is matched with the motion path of mechanical arm, can determine that application environment vision passes by matching result The installation site of sensor, further in application environment visual sensor there are when overlapping region, in conjunction with imaging characteristic point in image In regional location and the installation site of mechanical arm improved with the installation site of each application environment visual sensor of determination Accuracy, and hardware system is not depended on, transportable property is high.

Based on the above embodiment, end visual sensor and application environment visual sensing are existed simultaneously in mechanical arm system When device, first different types of visual sensor can be distinguished, and then each view is determined according to the method for above-described embodiment Feel the installation site of sensor.

In one embodiment of the invention, it can be moved according to preset path in the one of mechanical arm of every secondary control Before, it first controls one of mechanical arm and is rotated according to set angle.Wherein, the rotation angle of mechanical arm can be according to reality Border situation self-setting, herein with no restrictions.

It should be noted that due to being rotated to one of mechanical arm, the corresponding end view of the mechanical arm Feel that the reference axis of the image coordinate system of sensor can replace, for example, when 90 ° of rotations occur for mechanical arm, on the mechanical arm The original X-axis of the image coordinate system of bound end visual sensor can be replaced as Y-axis, and Y-axis originally can be replaced as X-axis. And for the end visual sensor not with mechanical arm binding, it is rotated since angle not occurring, then unbound visual sensing The reference axis of device will not replace.Similarly, since mechanical arm carries out angle rotation, it will not influence application environment visual sensing The image coordinate system of device, therefore, the reference axis in application environment visual sensor will not occur.

Below for including an end visual sensor and application environment visual sensor in mechanical arm system Situation is illustrated:

In these cases, the concrete processing procedure of step 104 is as shown in fig. 7, Fig. 7 is provided by the embodiment of the present invention Another visual sensor installation site determines method.The visual sensor installation site determines that method includes:

Step 401, the direction of motion for identifying imaging features point in two visual sensor acquired images, according to movement Direction determines the type of two visual sensors.

In one embodiment of the invention, it can be directed to the visual sensor of each type to be determined, by the direction of motion It is compared with direction initialization, and then whether consistent with direction initialization according to the direction of motion, determines the type of the sensor.

As an example, direction initialization is to move along the x-axis, and the direction of motion of imaging features point and direction initialization are compared Afterwards, if the reference axis of the direction of motion and setting that extract is inconsistent, it is determined that go out the type of visual sensor for end view Feel that sensor, the i.e. motion profile of end visual sensor are unfolded in Y-axis.If the direction of motion and direction initialization that extract Unanimously, it is determined that the type for going out visual sensor is application environment visual sensor, the i.e. movement of application environment visual sensor It is unfolded in X-axis track.

For example, there are visual sensor a and b in mechanical arm system, wherein visual sensor a is end visual sensing Device, visual sensor b are application environment visual sensor.Control mechanical arm first rotates to the right 90 ° and is moved to the left again.Due to machinery 90 ° of rotations have occurred in arm, and the reference axis in the image coordinate system of visual sensor a can replace, and the figure of visual sensor b As the reference axis in coordinate system can't replace.

Since the moving direction of mechanical arm is to be moved to the left at this time, if direction initialization is defined as X-direction.Do not occurring When 90 ° of rotations, the motion profile of the imaging features point in the image of visual sensor a acquisition, as shown in left hand view in Fig. 8 a.Depending on The motion profile for feeling the imaging features point in the image of sensor b acquisition, as shown in right part of flg in Fig. 8 a.That is, not When 90 ° of rotations occur, two visual sensors are only moved to the left and can not distinguish, and then can not determine installation site.

After 90 ° of rotations first occur for mechanical arm, since reference axis displacement can occur for the image coordinate system of visual sensor a, Then in the image of visual sensor a acquisition the motion profile of imaging features point respectively as shown in left hand view in Fig. 8 b.And vision passes Reference axis displacement can occur for the image coordinate system of sensor b, in Fig. 8 b shown in right part of flg.Shown in Fig. 8 b, it can learn that vision passes Imaging features point moves in the X-axis direction always in the image of sensor b acquisition, and in machinery in the image of visual sensor a acquisition It is moved along the y axis after arm movement, determines that visual sensor b is application environment visual sensor, visual sensor a is end view Feel sensor.

It should be noted that need first to control mechanical arm there are application environment sensor and select 90 °, Before mechanical arm is according to preset path movement, the image first taken pictures one before moving, then after mobile according to preset path, then Shoot a post exercise image.

Step 402, according to the type of two visual sensors, the corresponding installation site of two visual sensors is determined.

In the present embodiment, due to only existing an end visual sensor and an application environment visual sensor, After the type that two visual sensors have been determined, so that it may determine that end environment visual sensor is installed on mechanical arm end End, application environment visual sensor are installed on system head.

Below for the feelings in mechanical arm system including N number of end visual sensor and M application environment visual sensor Condition is illustrated.Wherein, it is positive integer that at least one in N and M, which is greater than 1, N and M,.Above situation can be divided into: mechanical arm system In include an end visual sensor and multiple application environment visual sensors, or include multiple end visual sensors with One application environment visual sensor, or including multiple end visual sensors and multiple application environment visual sensors.

In these cases, the concrete processing procedure of step 104 is as shown in figure 9, Fig. 9 is provided by the embodiment of the present invention Another visual sensor installation site determines method, which determines that method includes:

Step 501, by the motion profile of imaging features point in each visual sensor acquired image, with preset path into Row matching.

Due to needing the motion profile according to imaging features point there are the visual sensor of multiple installation sites to be determined, From the visual sensor of all installation sites to be determined, match relevant to the mechanical arm that this is moved by control Visual sensor.

Specifically, it for the end visual sensor of all installation sites to be determined, is only bundled in and is this time controlled The end visual sensor of the mechanical arm moved, the motion profile of the imaging features point extracted just can be with the mechanical arm Preset path matching.And the unbound end visual sensor in the mechanical arm, that is, the end view being bundled on other mechanical arms Feel sensor, since other mechanical arms do not occur to move accordingly, then the motion profile of the imaging features point extracted, Bu Huiyu The preset path of the mechanical arm of movement matches.

For the application environment visual sensor of all installation sites to be determined, only monitoring vision covers this quilt Control the application environment visual sensor of the mechanical arm moved, the motion profile of the imaging features point extracted, Cai Huiyu Mechanical arm preset path matching.And the unbound application environment visual sensor in the mechanical arm, the imaging features extracted The motion profile of point, will not match with the mechanical arm preset path.

Step 502, for the matched visual sensor of preset path, identify the collected figure of matched visual sensor The direction of motion of imaging features point determines the type of each matched visual sensor according to the direction of motion as in.

It further include application environment due to matching the end visual sensor in the visual sensor come not only including binding Visual sensor needs in order to finally determine the installation site of each matched visual sensor from all matchings In visual sensor out, end visual sensor is distinguished, that is, needs first to determine the type of each matching visual sensor, in turn The installation site of different types of visual sensor is determined respectively.

It should be noted that the explanation in previous embodiment for determining visual sensor type, is equally applicable to Step 502, details are not described herein again.

Step 503, when there are when the visual sensor of end, determine the matched end vision in matched visual sensor Sensor, for positioned at the end visual sensor of mechanical arm tail end.

It should be noted that the explanation in previous embodiment for determining end visual sensor installation site, together Sample is suitable for step 503, and details are not described herein again.

Step 504, when there are when application environment visual sensor, obtain imaging features point to exist in matched visual sensor Regional location after mechanical arm is moved according to preset path in the matched application environment visual sensor acquired image.

Step 505, according to the installation site of regional location and mechanical arm, the matched application environment visual sensor is determined Installation site.

In one embodiment of the invention, in mechanical arm system there are when multiple application environment visual sensors, true After the type for having determined visual sensor, the installation site of application environment visual sensor is further determined that.It should be noted that In previous embodiment for determine application environment visual sensor installation site explanation, be equally applicable to step 504, 505, details are not described herein again.

In one embodiment of the invention, in mechanical arm system when only one application environment visual sensor, true After the type for having determined visual sensor, it is directly assured that the installation site of application environment visual sensor.

Further, main control computer may carry visual sensor, in the visual sensor for executing the embodiment of the present invention Before installation site determines method, can also the visual sensor first to brand known in list of devices and purposes distinguish, To reject the visual sensor of on-mechanical arm system.

Hereby it is achieved that mechanical arm system simultaneously include end visual sensor and application environment visual sensor feelings Under condition, the motion profile of imaging features point in each visual sensor acquired image is matched, in turn with preset path The type that visual sensor is distinguished from all visual sensors matched, further determines that each visual sensor Installation site.

Figure 10 is the flow diagram for extracting imaging characteristic point provided by the embodiment of the present invention by streamer method.Such as Figure 10 It is shown, comprising the following steps:

Step 601, for each visual sensor, by optical flow method, mechanical arm is extracted respectively and is moved according to preset path The visual sensor is collected after collected first image of the preceding visual sensor and mechanical arm are moved according to preset path The characteristics of image of each pixel in second image.

Specifically, for each visual sensor, the visual sensor before obtaining mechanical arm and being moved according to preset path After collected first image and mechanical arm are moved according to preset path after collected second image of the visual sensor, lead to Cross the characteristics of image that optical flow method extracts each pixel in the first image and the second image respectively.

Step 602, it determines the consistent pixel of characteristics of image in the first image and the second image, it is consistent to obtain characteristics of image Location information of the pixel in the first image and the second image.

Wherein, location information can be the coordinate information etc. of pixel.

Step 603, location information of the consistent pixel of movement images feature in the first image and the second image, by position Confidence ceases inconsistent pixel, as an imaging features point.

It is appreciated that by obtaining, characteristics of image is consistent in the first image and the second image but location information is inconsistent Pixel can reflect out the movement of imaging features point according to the variation of these pixel dot position informations as imaging features point Track, further to match motion profile with preset path, so that it is determined that the installation site of visual sensor.

Step 604, the location information according to imaging features o'clock in the first image, and the position letter in the second image Breath, forms the motion profile of imaging features point in the visual sensor acquired image.

As an example, plane right-angle coordinate can be set, obtain the seat with imaging features o'clock in the first image Starting point is designated as, using the coordinate in the second image as the vector of terminal, as being imaged in the visual sensor acquired image The motion profile of characteristic point.

Hereby it is achieved that obtaining the motion profile that each visual sensor acquires imaging features point in image by optical flow method.

In order to realize above-described embodiment, the present invention also proposes a kind of visual sensor installation site determining device, Tu11Wei A kind of structural schematic diagram of visual sensor installation site determining device provided by the embodiment of the present invention as shown in figure 11 should Device includes: control module 71, and first obtains module 72, and second obtains module 73, determining module 74.

Wherein, control module 71 are moved for controlling mechanical arm according to preset path.

First obtains module 72, moves front and back according to preset path for obtaining mechanical arm, each installation site to be determined Visual sensor acquired image；Wherein, the type of visual sensor includes mechanical arm tail end visual sensor and mechanical arm At least one of application environment visual sensor.

Second obtains module 73, obtains the motion profile of imaging features point in each visual sensor acquired image.

Determining module 74 determines each according to the motion profile of imaging features point in each visual sensor acquired image The corresponding installation site of visual sensor.

Further, control module 71 are specifically used for:

One mechanical arm of every secondary control is moved according to preset path；

First obtains module 72, is specifically used for:

It obtains a mechanical arm and moves front and back according to preset path, the visual sensor of each installation site to be determined collects Image.

Further, when the visual sensor of installation site to be determined includes multiple end visual sensors, it is determined that Module 74, is specifically used for:

By the motion profile of imaging features point in each end visual sensor acquired image, with preset path progress Match；

End corresponding with the matched motion profile of preset path visual sensor is determined, for positioned at the end of mechanical arm tail end Hold visual sensor.

Further, when the visual sensor of installation site to be determined includes multiple application environment visual sensors, then Determining module 74, is specifically used for:

By the motion profile of imaging features point in each application environment visual sensor acquired image, with preset path into Row matching；

For with the matched application environment visual sensor of preset path, obtain imaging features point in mechanical arm according to default Regional location after the movement of path in matched application environment visual sensor acquired image；

According to the installation site of regional location and mechanical arm, the installation position of matched application environment visual sensor is determined It sets.

Further, control module 71 are also used to:

Before one mechanical arm of every secondary control is moved according to preset path, control a mechanical arm according to set angle into Row rotation.

Further, when the visual sensor of installation site to be determined includes an application environment visual sensor and one When the visual sensor of end, it is determined that module 74 is specifically used for:

Identify the direction of motion of imaging features point in two visual sensor acquired images, according to the direction of motion, really The type of fixed two visual sensors；

According to the type of two visual sensors, the corresponding installation site of two visual sensors is determined.

Further, the visual sensor of installation site to be determined includes N number of application environment visual sensor and M end Visual sensor, wherein N and M is positive integer, and at least one in N and M is greater than 1, it is determined that module 74 is specifically used for:

By the motion profile of imaging features point in each visual sensor acquired image, matched with preset path；

For with the matched visual sensor of preset path, identify and be imaged in matched visual sensor acquired image The direction of motion of characteristic point determines the type of each matched visual sensor according to the direction of motion；

When in matched visual sensor there are when the visual sensor of end, determining the matched end visual sensor, For positioned at the end visual sensor of mechanical arm tail end；

When there are when application environment visual sensor, obtain imaging features point to press in mechanical arm in matched visual sensor According to the regional location in the matched application environment visual sensor acquired image after preset path movement；

According to the installation site of regional location and mechanical arm, the installation position of the matched application environment visual sensor is determined It sets.

Further, it is determined that module 74, is also used to:

For the visual sensor of each type to be determined, the direction of motion and direction initialization are compared；

It is whether consistent with direction initialization according to the direction of motion, determine the type of the sensor.

Further, second module 73 is obtained, is specifically used for:

For each visual sensor, by optical flow method, the vision before mechanical arm is moved according to preset path is extracted respectively Collected second image of the visual sensor after collected first image of sensor and mechanical arm are moved according to preset path In each pixel characteristics of image；

It determines the consistent pixel of characteristics of image in the first image and the second image, obtains the consistent pixel of characteristics of image Location information in the first image and the second image；

Location information of the consistent pixel of movement images feature in the first image and the second image, not by location information Consistent pixel, as an imaging features point；

According to location information of the imaging features o'clock in the first image, and the location information in the second image, being formed should The motion profile of imaging features point in visual sensor acquired image.

It should be noted that previous embodiment determines that the explanation of method is equally applicable to visual sensor installation site In the visual sensor installation site determining device of the present embodiment, details are not described herein again.

In conclusion the visual sensor installation site determining device of the embodiment of the present invention, by control mechanical arm according to Preset path movement, and then obtain mechanical arm and move front and back, the visual sensor of each installation site to be determined according to preset path Acquired image further obtains the motion profile of imaging features point in each visual sensor acquired image, further According to the motion profile of imaging features point in each visual sensor acquired image, the corresponding installation of each visual sensor is determined Position.It, then will imaging spy as a result, by obtaining the motion profile of the imaging features point in former and later two images of manipulator motion The motion profile of sign point is matched with the motion path of mechanical arm, can by matching result, realize to visual sensor and The differentiation and binding of mechanical arm improve essence so as to quickly determine the installation site of visual sensor in mechanical arm system Parasexuality, and hardware system is not depended on, transportable property is high.

In order to realize above-described embodiment, the present invention also proposes a kind of electronic equipment, including processor and memory；Wherein, Processor runs program corresponding with executable program code by reading the executable program code stored in memory, with Method is determined for realizing the visual sensor installation site as described in aforementioned any embodiment.

In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when in computer program product Instruction processing unit realize that visual sensor installation site as described in aforementioned any embodiment determines method when executing.

In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon Computer program is contained, the visual sensor installation position as described in aforementioned any embodiment is realized when which is executed by processor Set determining method.

Figure 12 shows the block diagram for being suitable for the example electronic device for being used to realize the application embodiment.What Figure 12 was shown Electronic equipment is only an example, should not function to the embodiment of the present application and use scope bring any restrictions.

As shown in figure 12, electronic equipment 10, including shell 110, processor 120, memory 130, circuit board 140 and power supply Circuit 150, wherein circuit board 140 is placed in the space interior that shell 110 surrounds, and processor 120 and the setting of memory 130 exist On circuit board 140；Power circuit 150, for each circuit or the device power supply for above-mentioned electronic equipment；Memory 130 is used for Store executable program code；Processor 120 is run by reading the executable program code stored in memory and can be held The corresponding program of line program code, for executing method described in above-described embodiment.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples It closes and combines.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three It is a etc., unless otherwise specifically defined.

Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention Embodiment person of ordinary skill in the field understood.

Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media His suitable method is handled electronically to obtain described program, is then stored in computer storage.

It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile Journey gate array (FPGA) etc..

Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.

It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer In read/write memory medium.

Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention Type.

Claims

1. a kind of visual sensor installation site determines method, which is characterized in that the described method comprises the following steps:

Control mechanical arm is moved according to preset path；

It obtains the mechanical arm and moves front and back, the collected figure of visual sensor of each installation site to be determined according to preset path Picture；Wherein, the type of the visual sensor includes mechanical arm tail end visual sensor and mechanical arm application environment visual sensing At least one of device；

According to the motion profile of imaging features point in each visual sensor acquired image, determine that each visual sensor is corresponding Installation site.

2. the method according to claim 1, wherein the control mechanical arm is moved according to preset path, comprising:

Described to obtain the mechanical arm according to preset path movement front and back, the visual sensor of each installation site to be determined collects Image, comprising:

It obtains one mechanical arm and moves front and back according to preset path, the visual sensor of each installation site to be determined collects Image.

3. according to the method described in claim 2, it is characterized in that, the visual sensor when the installation site to be determined includes When multiple end visual sensors, then the movement rail according to imaging features point in each visual sensor acquired image Mark determines the corresponding installation site of each visual sensor, comprising:

End corresponding with the matched motion profile of preset path visual sensor is determined, for positioned at the mechanical arm tail end End visual sensor.

4. according to the method described in claim 2, it is characterized in that, the visual sensor when the installation site to be determined includes When multiple application environment visual sensors, then the movement according to imaging features point in each visual sensor acquired image Track determines the corresponding installation site of each visual sensor, comprising:

By the motion profile of imaging features point in each application environment visual sensor acquired image, with the preset path into Row matching；

For with the matched application environment visual sensor of the preset path, obtain the imaging features point in the mechanical arm Regional location after being moved according to preset path in the matched application environment visual sensor acquired image；

According to the installation site of the regional location and the mechanical arm, the matched application environment visual sensor is determined Installation site.

5. according to the method described in claim 2, it is characterized in that, one mechanical arm of every secondary control is transported according to preset path Before dynamic, further includes:

One mechanical arm is controlled to be rotated according to set angle.

6. according to the method described in claim 5, it is characterized in that, the visual sensor when the installation site to be determined includes It is when one application environment visual sensor and an end visual sensor, then described according to the collected figure of each visual sensor The motion profile of imaging features point, determines the corresponding installation site of each visual sensor as in, comprising:

According to the type of described two visual sensors, the corresponding installation site of described two visual sensors is determined.

7. according to the method described in claim 5, it is characterized in that, the visual sensor of the installation site to be determined includes N A application environment visual sensor and M end visual sensor, wherein N and M is positive integer, and at least one in N and M Greater than 1, then the motion profile according to imaging features point in each visual sensor acquired image, determines each visual sensing The corresponding installation site of device, comprising:

By the motion profile of imaging features point in each visual sensor acquired image, matched with the preset path；

For with the matched visual sensor of the preset path, identify in the matched visual sensor acquired image The direction of motion of imaging features point determines the type of each matched visual sensor according to the direction of motion；

When in the matched visual sensor there are when the visual sensor of end, determining the matched end visual sensor, For positioned at the end visual sensor of the mechanical arm tail end；

When there are when application environment visual sensor, obtain the imaging features point in the machinery in matched visual sensor Regional location after arm is moved according to preset path in the matched application environment visual sensor acquired image；

According to the installation site of the regional location and the mechanical arm, the peace of the matched application environment visual sensor is determined Holding position.

8. a kind of visual sensor installation site determining device characterized by comprising

First obtains module, moves front and back, the view of each installation site to be determined according to preset path for obtaining the mechanical arm Feel sensor acquired image；Wherein, the type of the visual sensor includes mechanical arm tail end visual sensor and machinery At least one of arm application environment visual sensor；

Determining module determines that each vision passes according to the motion profile of imaging features point in each visual sensor acquired image The corresponding installation site of sensor.

9. a kind of electronic equipment, which is characterized in that including shell, processor, memory unit circuit board and power circuit；

Wherein, the circuit board is placed in the space interior that the shell surrounds, and the processor and memory setting exist On the circuit board；The power circuit, for each circuit or the device power supply for above-mentioned electronic equipment；The memory is used In storage executable program code；Wherein, the processor is by reading the executable program code stored in the memory Program corresponding with the executable program code is run, for realizing the vision as described in any in claim 1-7 Sensor mounting location determines method.

10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program Realize that the visual sensor installation site as described in any in claim 1-7 determines method when being executed by processor.